From 0c40d626a8396e017106a1b81ce415f8aa020a15 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Fri, 1 Dec 2023 00:00:36 +1100
Subject: [PATCH] ConfigMotorTest: support Tri frames

---
 APMotorLayout.json                            | 858 +++++++++++++++++-
 GCSViews/ConfigurationView/ConfigMotorTest.cs |   2 +-
 2 files changed, 858 insertions(+), 2 deletions(-)

diff --git a/APMotorLayout.json b/APMotorLayout.json
index 95ef1cae0d..c7ef6af442 100644
--- a/APMotorLayout.json
+++ b/APMotorLayout.json
@@ -1,5 +1,5 @@
 {
-	"Version": "AP_Motors library test ver 1.1",
+	"Version": "AP_Motors library test ver 1.2",
 	"layouts": [
 		{
 			"Class": 1,
@@ -145,6 +145,78 @@
 				}
 			]
 		},
+		{
+			"Class": 1,
+			"ClassName": "QUAD",
+			"Type": 4,
+			"TypeName": "VTAIL",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -0.5000,
+					"Pitch": 0.2660
+				},
+				{
+					"Number": 2,
+					"TestOrder": 3,
+					"Rotation": "CW",
+					"Roll": -0.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 3,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 0.5000,
+					"Pitch": 0.2660
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "CCW",
+					"Roll": -0.0000,
+					"Pitch": -0.5000
+				}
+			]
+		},
+		{
+			"Class": 1,
+			"ClassName": "QUAD",
+			"Type": 5,
+			"TypeName": "ATAIL",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -0.5000,
+					"Pitch": 0.2660
+				},
+				{
+					"Number": 2,
+					"TestOrder": 3,
+					"Rotation": "CCW",
+					"Roll": -0.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 3,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 0.5000,
+					"Pitch": 0.2660
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "CW",
+					"Roll": -0.0000,
+					"Pitch": -0.5000
+				}
+			]
+		},
 		{
 			"Class": 1,
 			"ClassName": "QUAD",
@@ -1743,6 +1815,106 @@
 				}
 			]
 		},
+		{
+			"Class": 5,
+			"ClassName": "Y6",
+			"Type": 4,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 2,
+					"Rotation": "CCW",
+					"Roll": -0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 2,
+					"TestOrder": 5,
+					"Rotation": "CW",
+					"Roll": 0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 3,
+					"TestOrder": 6,
+					"Rotation": "CCW",
+					"Roll": 0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 4,
+					"TestOrder": 4,
+					"Rotation": "CW",
+					"Roll": 0.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 5,
+					"TestOrder": 1,
+					"Rotation": "CW",
+					"Roll": -0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 6,
+					"TestOrder": 3,
+					"Rotation": "CCW",
+					"Roll": 0.0000,
+					"Pitch": -0.5000
+				}
+			]
+		},
+		{
+			"Class": 5,
+			"ClassName": "Y6",
+			"Type": 5,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 2,
+					"Rotation": "CCW",
+					"Roll": -0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 2,
+					"TestOrder": 5,
+					"Rotation": "CW",
+					"Roll": 0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 3,
+					"TestOrder": 6,
+					"Rotation": "CCW",
+					"Roll": 0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 4,
+					"TestOrder": 4,
+					"Rotation": "CW",
+					"Roll": 0.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 5,
+					"TestOrder": 1,
+					"Rotation": "CW",
+					"Roll": -0.5000,
+					"Pitch": 0.2498
+				},
+				{
+					"Number": 6,
+					"TestOrder": 3,
+					"Rotation": "CCW",
+					"Roll": 0.0000,
+					"Pitch": -0.5000
+				}
+			]
+		},
 		{
 			"Class": 5,
 			"ClassName": "Y6",
@@ -2393,6 +2565,690 @@
 				}
 			]
 		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 0,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 1,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 2,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 3,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 4,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 5,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 6,
+			"TypeName": "pitch-reversed",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": -0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 7,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 8,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 9,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 10,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 11,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 12,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 13,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 14,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 15,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 16,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 17,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
+		{
+			"Class": 7,
+			"ClassName": "TRI",
+			"Type": 18,
+			"TypeName": "default",
+			"motors": [
+				{
+					"Number": 1,
+					"TestOrder": 1,
+					"Rotation": "?",
+					"Roll": -1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 2,
+					"TestOrder": 4,
+					"Rotation": "?",
+					"Roll": 1.0000,
+					"Pitch": 0.5000
+				},
+				{
+					"Number": 4,
+					"TestOrder": 2,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": -1.0000
+				},
+				{
+					"Number": 7,
+					"TestOrder": 3,
+					"Rotation": "?",
+					"Roll": 0.0000,
+					"Pitch": 0.0000
+				}
+			]
+		},
 		{
 			"Class": 12,
 			"ClassName": "DODECAHEXA",
diff --git a/GCSViews/ConfigurationView/ConfigMotorTest.cs b/GCSViews/ConfigurationView/ConfigMotorTest.cs
index ed4e206c98..f2b697de41 100644
--- a/GCSViews/ConfigurationView/ConfigMotorTest.cs
+++ b/GCSViews/ConfigurationView/ConfigMotorTest.cs
@@ -242,7 +242,7 @@ private void lookup_frame_layout(int frame_class, int frame_type)
                 {
                     string json = r.ReadToEnd();
                     var all_layouts = JsonConvert.DeserializeObject<JSON_motors>(json);
-                    if (all_layouts.Version == "AP_Motors library test ver 1.1")
+                    if (all_layouts.Version == "AP_Motors library test ver 1.2")
                     {
                         foreach (var layout in all_layouts.layouts)
                         {